2D Simultaneous Localization And Mapping for Micro Air Vehicles - Archive ouverte HAL
Communication Dans Un Congrès Année : 2006

2D Simultaneous Localization And Mapping for Micro Air Vehicles

Adrien Angeli
  • Fonction : Auteur
Stéphane Doncieux
Jean-Arcady Meyer
  • Fonction : Auteur

Résumé

The purpose of the work reported here is to design a purely vision-based Simultaneous Localization And Map-building system for a MAV flying at a constant altitude. We demonstrate the e ectiveness of our approach with videos taken from a heading-down camera mounted on diff erent MAV. In particular, results on loop-closure detection and on map-precision improvement through an on-line estimate of the camera's radial distortion coefficient are presented.
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Dates et versions

hal-00655111 , version 1 (26-12-2011)

Identifiants

  • HAL Id : hal-00655111 , version 1

Citer

Adrien Angeli, David Filliat, Stéphane Doncieux, Jean-Arcady Meyer. 2D Simultaneous Localization And Mapping for Micro Air Vehicles. European Micro Aerial Vehicles (EMAV 2006), Jul 2006, Braunschweig, Germany. ⟨hal-00655111⟩
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